Can a person following the Hanafi Mashab read Zuhr namaaz in the time that Shafi Asr Namaaz sets in?

Assalaamualaikum Muftisaab, I would just like to enquire if a person following the Hanafi mathab was delayed in performing Zuhr Salaah, can it still be performed on time once the Shafi Asr time has already set in?

Jazakallah

Wassalaam